Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach

Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach

We propose a robust nonlinear trajectory tracking design by integrating a nonlinear model transformation, robust disturbance eliminator, and trajectory generator for unmanned surface vessels influenced by modeling uncertainties and ocean environmental disturbances. We designed this nonlinear control...

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Bibliographic Details
Main Authors: Yung-Hsiang Chen, Ming-Zhen Ellis-Tiew, Yu-Hsiang Chan, Guan-Wun Lin, Yung-Yue Chen
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Journal of Marine Science and Engineering
Subjects:
nonlinear control law
robust disturbance eliminator
unmanned surface vessels
trajectory generator
cubic spline interpolation
energy consumption
Online Access:https://www.mdpi.com/2077-1312/11/8/1612

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